A heuristic humanoid robot fall protection method

Abstract

The invention discloses a heuristic humanoid robot falling protection method. A self state of a robot is monitored by an industrial personal computer through information acquired by a sensor and compared with a state expected value; and if the difference value between the self state of the robot and the expected value is monitored to be larger than a threshold value, the robot is in an unbalancedstate, the industrial personal computer implements a falling protection strategy, the falling impact of the robot is reduced to minimum, and the robot is gradually stable under the control of the industrial personal computer and finally stops moving. According to the heuristic type humanoid robot falling protection method, each joint track of the robot during falling is obtained so that the impactof the robot during falling can be reduced, and the robot can be protected; adjustment is performed according to different falling states of the robot to obtain the protection strategy which is mostsuitable for the current falling situation, and the falling protection has the adaptability of the different situations.

Description

technical field [0001] The invention belongs to the technical field of humanoid robots, and in particular relates to a heuristic humanoid robot fall protection method. Background technique [0002] Humanoid robots have a high similarity to humans in appearance and action behavior. Therefore, humanoid robots, like humans, have a strong ability to adapt to the environment, and can complete many complex tasks through the cooperation of their feet and arms. Operation. When human beings fall, they can respond quickly to control their falling posture and the parts in contact with the ground, so as to minimize the fall damage within the possible range, while the humanoid robot has a higher center of gravity and its own There are many degrees of freedom and the support area of ​​the feet is small. These characteristics make the humanoid robot unstable and more likely to fall during walking or other operations. Therefore, the fall protection of humanoid robots is an urgent problem ...

AI Technical Summary

Problems solved by technology

However, the joints of large-scale humanoid robots generally use harmonic reducers as transmission components, which have a large reduction ratio. Even if the PD control parameters of the joints are reduced, the joint stiffness will still be relatively large. This fall protection method may affect the Robotic arm joints do more damage

[0004] The fall protection strategies of existing humanoid robots are mostly in the simulation stage or the experimental verification stage of small robots, and a few methods that have carried out fall protection experiments on large humanoid robots have problems such as lack of versatility and imperfect protection.

Images